public static boolean pointInPolygon(Polygon poly, Mat point) {
ArrayList<Point2D.Double> points = new ArrayList<Point2D.Double>();
for (Mat v : poly.vertices) {
points.add(new Point2D.Double(v.data[0][0], v.data[1][0]));
}
PolygonObstacle po = GeomUtils.convexHull(points);
return po.contains(point.data[0][0], point.data[1][0]);
/*Mat farPoint = Mat.encodePoint(0, 0);
double maxDist = -1;
double dist;
for (Mat vertex : poly.vertices) {
dist = Mat.dist(point, vertex);
if (maxDist < dist) {
maxDist = dist;
}
}
farPoint = Mat.add(point, Mat.mul(maxDist + 1, Mat.encodePoint(1, 0)));
int size = poly.vertices.size();
int intersections = 0;
for (int i = 0; i < size; i++) {
if (lineSegIntersect(point, farPoint, poly.vertices.get(i), poly.vertices.get((i + 1) % size))) {
intersections++;
}
}
return ((intersections % 2) == 1);*/
}
